Part IV
Urbi SDK Reference Manual

21 Programs
 21.1 Environment Variables
 21.2 Special Files
 21.3 urbi — Running an Urbi Server
 21.4 urbi-image — Querying Images from a Server
 21.5 urbi-launch — Running a UObject
 21.6 urbi-launch-java — Running a Java UObject
 21.7 urbi-ping — Checking the Delays with a Server
 21.8 urbi-send — Sending urbiscript Commands to a Server
 21.9 urbi-sound — Querying Sounds from a Server
 21.10 umake — Compiling UObject Components
22 urbiscript Language Reference Manual
 22.1 Syntax
 22.2 Scopes and local variables
 22.3 Functions
 22.4 Objects
 22.5 Enumeration types
 22.6 Structural Pattern Matching
 22.7 Imperative flow control
 22.8 Exceptions
 22.9 Assertions
 22.10 Parallel and event-based flow control
 22.11 Trajectories
 22.12 Garbage collection and limitations
23 urbiscript Standard Library
 23.1 Barrier
 23.2 Binary
 23.3 Boolean
 23.4 CallMessage
 23.5 Channel
 23.6 Code
 23.7 Comparable
 23.8 Container
 23.9 Control
 23.10 Date
 23.11 Dictionary
 23.12 Directory
 23.13 Duration
 23.14 Enumeration
 23.15 Event
 23.16 Exception
 23.17 Executable
 23.18 File
 23.19 Finalizable
 23.20 Float
 23.21 Float.limits
 23.22 FormatInfo
 23.23 Formatter
 23.24 Global
 23.25 Group
 23.26 Hash
 23.27 InputStream
 23.28 IoService
 23.29 Job
 23.30 Kernel1
 23.31 Lazy
 23.32 List
 23.33 Loadable
 23.34 Lobby
 23.35 Location
 23.36 Logger
 23.37 Math
 23.38 Mutex
 23.39 nil
 23.40 Object
 23.41 Orderable
 23.42 OutputStream
 23.43 Pair
 23.44 Path
 23.45 Pattern
 23.46 Position
 23.47 Primitive
 23.48 Process
 23.49 Profile
 23.50 Profile.Function
 23.51 PseudoLazy
 23.52 PubSub
 23.53 PubSub.Subscriber
 23.54 RangeIterable
 23.55 Regexp
 23.56 Semaphore
 23.57 Server
 23.58 Singleton
 23.59 Socket
 23.60 StackFrame
 23.61 Stream
 23.62 String
 23.63 System
 23.64 System.PackageInfo
 23.65 System.Platform
 23.66 Tag
 23.67 Timeout
 23.68 Traceable
 23.69 TrajectoryGenerator
 23.70 Triplet
 23.71 Tuple
 23.72 UObject
 23.73 uobjects
 23.74 UValue
 23.75 UVar
 23.76 void
24 Communication with ROS
 24.1 Ros
 24.2 Ros.Topic
 24.3 Ros.Service
25 Gostai Standard Robotics API
 25.1 The Structure Tree
 25.2 Frame of Reference
 25.3 Component naming
 25.4 Localization
 25.5 Interface
 25.6 Standard Components
 25.7 Compact notation
 25.8 Support classes